Representation of robotic fractional dynamics in the pseudo phase plane

This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.

Short Term Stability Using Phase Plane

One of the most important problems in the study of transient stability of power systems is the determination of perturbation’s maximum time of permanence without losing the synchronism of the generators that feed the network. The problem is generally solved by either the application of the equal-area criterion or through numerical integration methods. In the present work, the phase-plane is proposed as an alternative tool to solve the above-mentioned problem with greater efficiency.

Yaw controller design of stratospheric airship based on phase plane method

Recently, stratospheric airships prefer to employ a vectored tail rotor or differential main propellers for the yaw control, rather than the control surfaces like common low-altitude airship. The load capacity of vectored mechanism and propellers are always limited by the weight and strength, which bring challenges for the attitude controller. In this paper, the yaw channel of airship dynamics is firstly rewritten as a simplified two-order dynamics equation and the dynamic charac- teristics is analyzed with a phase plane method. Analysis shows that when ignoring damping, the yaw control channel is available to the minimum principle of Pontryagin for optimal control, which can obtain a Bang-Bang controller. But under this controller, the control output could he bouncing around the theoretical switch curve due to the presence of disturbance and damping, which makes adverse effects for the servo structure. Considering the structure requirements of actuators, a phase plane method controller is employed, with a dead zone surrounded by several phase switch curve. Thus, the controller outputs are limited to finite values. Finally, through the numerical simulation and actual flight experiment, the method is proved to be effective.

Phase plane design based fast altitude tracking control for hypersonic flight vehicle with angle of attack constraint

In this paper, fast setpoint altitude tracking control for Hypersonic Flight Vehicle(HFV)satisfying Angle of Attack(AOA) constraint is studied with a two-loop structure controller, in the presence of parameter uncertainties and disturbances. For the outer loop, phase plane design is adopted for the simplified model under Bang-Bang controller to generate AOA command guaranteeing fast tracking performance. Modifications based on Feedback-Linearization(FL) technique are adopted to transform the phase trajectory into a sliding curve. Moreover, to resist mismatch between design model and actual model, Fast Exponential Reaching Law(FERL) is augmented with the baseline controller to maintain state on the sliding curve. The inner-loop controller is based on backstepping technique to track the AOA command generated by outer-loop controller. Barrier Lyapunov Function(BLF) design is employed to satisfy AOA requirement. Moreover, a novel auxiliary state is introduced to remove the restriction of BLF design on initial tracking errors. Dynamic Surface Control(DSC) is utilized to ease the computation burden. Rigorous stability proof is then given, and AOA is guaranteed to stay in predefined region theoretically. Simulations are conducted to verify the efficiency and superior performance of the proposed method.

Phase-plane analysis of conserved higher-order traffic flow model

The phase-plane analysis is used to study the traveling wave solution of a recently proposed higher-order traffic flow model under the Lagrange coordinate system. The analysis identifies the types and stabilities of the equilibrium solutions, and the overall distribution structure of the nearby solutions is drawn in the phase plane for the further analysis and comparison. The analytical and numerical results are in agreement, and may help to explain the simulated phenomena, such as the stop-and-go wave and oscillation near a bottleneck. The findings demonstrate the model ability to describe the complexity of congested traffic.

ALTERNATIVE DESCRIPTION OF THE SHEAR PLANE OF THE R-PHASE

A high density of {110} shear planes has been observed in the R-phase (Al5CuLi3)following phase transformation from the AlCuLi icosahedral Phase. The Present paper shows that the atomic arrangement in the vicinity of the shear planes can be described as a two-dimensional periodic array of atom clusters with 5-fold symmetry. This result is obtained by projecting along the [1. 618...01] direction of the atomic positions from four adjacent lattice planes that cross the shear plane. The projection reveals that the shear plane consists of pentagonal arrangements of double triacontahedra,each pentagon incorporating 606 atoms. The calculated diffraction pattern from the pentagon has approximate 10-fold symmetry characteristic of a quasicrystal.

Optical simulation of in-plane-switching blue phase liquid crystal display using the finite-difference time-domain method

The finite-difference time-domain method is used to simulate the optical characteristics of an in-plane switching blue phase liquid crystal display.Compared with the matrix optic methods and the refractive method,the finite-difference timedomain method,which is used to directly solve Maxwell＇s equations,can consider the lateral variation of the refractive index and obtain an accurate convergence effect.The simulation results show that e-rays and o-rays bend in different directions when the in-plane switching blue phase liquid crystal display is driven by the operating voltage.The finitedifference time-domain method should be used when the distribution of the liquid crystal in the liquid crystal display has a large lateral change.

Phase and direction dependence of photorefraction in a low-frequency strong circular-polarized plane wave

Contrary to the superposition principle, it is well known that photorefraction exists in the vacuum with the presence of a strong static field, a laser field, or a rotational magnetic field. Different from the classical optical crystals, the refractive index also depends on the phase of the strong electromagnetic field. We obtain the phase and direction dependence of the refractive index of a probe wave incident in the strong field of a circular-polarized plane wave by solving the Maxwell equations corrected by the effective Lagrangian. It may provide a valuable theoretical basis to calculate the polarization evolution of waves in the strong electromagnetic circumstances of pulsar or neutron stars.

分布式驱动车辆直接横摆力矩与转向控制

为了进一步提高车辆在转向行驶过程中的横向稳定性,针对分布式驱动电动汽车,提出了一种在分层集成架构下利用相平面法确定稳定区域控制车辆运动状态稳定的控制策略。由二自由度模型得到的理想侧向速度、理想横摆角速度与实际差值作为上层控制器输入值,上层控制器采用双滑膜控制器结构分别对理想侧向速度和理想横摆角速度进行追踪,分别得到控制量附加转角和附加横摆力矩;下层控制器主要依据相平面法得到的边界值协调控制转向控制和横摆力矩控制的输入输出值,通过最优分配算法将轮胎力和转向角分配到四轮,最终实现对车辆稳定性控制。对控制算法进行仿真验证,证明了所提控制策略的有效性和可行性。

基于等效同步功率的孤岛并联构网变流器系统暂态稳定性分析

随着构网变流器在微电网中应用的增长,其对微电网暂态稳定的影响受到了广泛关注。不同于单机无穷大系统,孤岛并联构网变流器系统的频率和功角差相互耦合,暂态响应特性更为复杂。为精准分析孤岛并联构网变流器系统的暂态响应,文中基于功角耦合运动方程建立双机频率和功角差的三阶暂态同步模型,并且分析了双机出力差异和下垂系数对于暂态稳定的影响特征。为揭示出力和下垂系数对于暂态稳定的耦合机理,对双机系统进行等效同步功率分析,并且提出一种基于构网变流器出力的自适应下垂系数优化策略,可以根据出力差异自适应提升双机系统的等效同步功率,进而提升系统暂态稳定性。最后,采用实时仿真验证了三阶暂态模型的正确性和所提控制策略的有效性。

基于预警边界的线控转向主动安全控制研究

为提高传统线控转向车辆转向稳定性,提出一种基于相平面预警边界的主动安全控制策略。首先,建立质心侧偏角与质心侧偏角速度β-β相平面图;其次,针对传统相平面稳定区域划分所用双线法在低路面附着系数时存在不足,提出“平行四边形”边界法改善相平面稳定区域的划分,并以稳定域边界建立预警边界模型。然后基于预警边界设计线控转向主动安全控制器,设计预警度PID控制器和横摆角速度滑模控制器联合决策横摆力矩,以保持车辆稳定行驶,避免失稳状态从而起到主动安全作用;最后,结合Simulink和CarSim联合仿真结果表明,控制器能够有效避免线控转向车辆失稳,提高了主动安全性。

TDI-CMOS焦面组件传热路径优化设计

为解决TDI-CMOS传感器在轨温漂问题,利用相变储能装置对焦面组件传热路径进行优化设计,以更好的控制传感器芯片在轨成像期间的温升,进一步提高空间相机成像品质。首先根据轨道热流环境及焦面组件工作特性确定仿真及试验边界条件;接着利用现有焦面组件结构进行建模仿真分析并开展热试验,得到优化前各部分温度结果;再根据现有结构进行热控优化设计,研究不同的传热路径对CMOS传感器温度的提升效果,确定出辅以相变储能装置的焦面组件热设计方案;最后开展焦面组件热光学试验,验证设计方案的正确性。试验结果表明,采用针脚散热方案与侧面散热相组合的强化传热方式能够满足CMOS传感器在工作期间5℃以内温升要求,且DN值变化小于0.2%,优化方案有效提高了成像品质。

钛焊缝的对置串列PCI与脉冲回波TFM组合检测

随着近年来PCI技术及TFM技术的发展与应用,与FMC及PWI所对应的数据处理方式已日渐丰富,从原先优化定性的辅助工具逐步转变为可用于实际检测的整套先进技术。针对钛焊缝检测中PCI技术与TFM技术的组合使用开展了相关分析,进行了二者与FMC和PWI配合使用的不同结合方式的对比试验。结果表明,采用PWI-TFM与对置串列PWI/FMC-PCI组合检测方式,能够优化钛焊缝检测效率与成像质量。

基于瞬时功率相平面的柔性直流电网后备保护

基于双端信息的柔性直流电网保护方法具有无需整定阈值、耐受过渡电阻能力强、保护线路全长、可靠性高等优势,可以弥补单端信息保护的缺陷。为实现直流电网线路故障的全范围检测,同时实现后备保护与主保护的协调配合,提出了一种基于故障分量瞬时功率相平面的直流电网线路双端保护方法。首先建立多端柔性直流电网模型,利用回路分析法推导短路故障电流和电压,计算故障分量瞬时功率。然后分析不同故障类型下正负极故障分量瞬时功率的和差特征,分别利用功率差与功率和构造相平面,实现故障区域识别与故障选极。同时通过引入低电压判据,对故障分量瞬时功率重新进行计算,消除线路出口处存在保护死区的问题。该保护方法具有良好的选择性,能够保护线路全长,且具有较好的耐受过渡电阻能力。

Large eddy simulation of a particle—laden turbulent plane jet

Gas-solid two-phase turbulent plane jet is applied to many natural situations and in engineering systems.To predict the particle dispersion in the gas jet is of great importance in industrial applications and in the designing of engineering systems.A large eddy simulation of the two-phase plane jet eas conducted to in-vestigate the particle dispersion patterns.The particles with Stokes numbers equal to 0.0028,0.3,2.5,28(corresponding to particle diamster 1μm,10μm,30μm,100μm,respectively)in Re=11300 gas flow were strudied.The simulation results of gas phase motion agreed well with previous experimental results.And the simulation results of the solid particles motion showed that particles with different Stokes number have dif-ferent spatial dispersion;and that particles with intermediate Stokes number have the largest dispersion ratio.

Phase-field simulation of competitive growth of grains in a binary alloy during directional solidification

Taking Al-2%mole-Cu binary alloy as an example, the influence of grain orientation on competitive growth of dendrites under different competitive modes was investigated by using the three-dimensional(3-D) phasefield method. The result of phase-field simulation was verified by applying cold spray and directional remelting. In the simulation process, two competitive modes were designed: in Scheme 1, the monolayer columnar grains in multilayer columnar crystals had different orientations; while in Scheme 2, they had the same orientation. The simulation result showed that in Scheme 1, the growth of the dendrites, whose orientation had a certain included angle with the direction of temperature gradient, was restrained by the growth of other dendrites whose direction was parallel to the direction of temperature gradient. Moreover, the larger the included angle between the grain orientation and temperature gradient, the earlier the cessation of dendrite growth. The secondary dendrites of dendrites whose grain orientation was parallel to the temperature gradient flourished with increasing included angles between the grain orientation and temperature gradient. In Scheme 2, the greater the included angle between grain orientation and temperature gradient, the easier the dendrites whose orientation showed a certain included angle with temperature gradient inserted between those grew parallel to the temperature gradient, and the better the growth condition thereafter. Some growing dendrites after intercalation were deflected to the temperature gradient, and the greater the included angle, the lower the deflection. The morphologies of the competitive growth dendrites obtained through simulation can also be found in metallographs of practical solidification experiments. This implies that the two modes of competitive growth of dendrites characterized in the simulation do exist and frequently appear in practical solidification processes.

基于最优方法的碰后辅助驾驶控制策略

在碰撞事故中,车辆发生侧向碰撞后往往会同时产生剧烈横摆与横向运动,普通驾驶员难以正确应对此种紧急工况,车辆可能会失去稳定性,甚至造成更严重的事故。为减少车辆失稳以及驾驶员误操作等原因引起二次碰撞,本文提出一种碰后即接管车辆驾驶权限的两阶段碰后辅助驾驶控制策略。在第1阶段中,综合车辆稳定性和横向位移两项指标设计了代价函数,通过分层控制使车辆碰后快速回归稳定,并减小横向位移,以降低二次碰撞风险。然后依据相平面法所划分的稳定域制定控制系统切换准则,在判断当车辆稳定后,控制系统切换至第2阶段的路径跟踪控制,由模型预测路径跟踪控制器将控制车辆驶回原车道,以减小对相邻车道的影响。最后通过仿真实验,在不同强度的侧向碰撞中验证了本文所提出的控制策略的有效性。

基于LSTM和改进TTR算法的车辆辅助驾驶侧翻预警

以提高侧翻预警中对侧翻风险的预测和判断为目标,为了给驾驶员或其他驾驶辅助系统确定对车辆进行控制的介入时机提供重要依据,提出了一种更高效准确的侧翻预警算法.首先建立三自由度车辆预警参考模型;选取相平面法划分侧倾稳定域为侧翻指标,根据三自由度模型响应,设计改进侧翻预测时间(TTR)算法并计算TTR.分析结果表明,相平面侧翻指标接近实际横向载荷转移率(LTR),比LTR常用的表达形式更准确地表述了车辆状态,且改进的TTR也更加接近实际TTR.然后建立长短期记忆网络(LSTM)模型来取代改进TTR算法,提高预警计算效率,模型输出的TTR值作为车辆预警控制的依据.最后通过驾驶员在环(DIL)试验采集数据,对LSTM模型进行训练,并在两种工况下,仿真验证了此侧翻预警方法具有对侧翻风险预测的准确性和更高的实时性.

控制时延对非同步机电源同步稳定性的影响

采用并网逆变器与电网相连的新能源发电系统与旋转电源保持同步由控制器实现,这与同步机电源之间的同步机制不同,常被称为非同步机电源。电力系统中非同步机电源比例的增加使得电网同步稳定性呈现出新形态。为探究控制时延对非同步机电源同步稳定性的影响,分析了锁相环数据采集环节时延、脉宽调制环节的滞后一拍控制时延和换流器开关管死区时延的时延机理,建立了考虑时延的各控制环节数学模型及传递函数。以此为基础推导了考虑控制时延情况下非同步机电源电压与电网电压的相角差微分方程,采用相平面法研究了控制时延对系统同步稳定性的影响。理论分析和相平面法分析结果表明,控制时延降低了系统的同步稳定性,需进一步增大系统阻尼以补偿控制时延的影响,实际中可通过适当减小锁相环积分系数来增大系统阻尼。

基于相平面的电动汽车操稳性模型预测控制

为提高分布式驱动电动汽车的操纵稳定性,基于模型预测控制和相平面法提出一种主动前轮转向与直接横摆力矩的集成控制策略。该策略由基于质心侧偏角相平面的车辆稳定性判断模块、基于改进模型预测控制的稳定性控制器和转矩分配器组成。通过相平面对车辆稳定性进行评价,将车辆稳定程度公式引入模型预测控制器的目标函数设计中,调整决策的主动转角和附加横摆力矩大小。考虑车辆稳定性和动力性,设计了基于相平面的转矩综合优化分配方法对力矩进行分配。在低附双移线工况下进行仿真,综合分析表明,该控制策略改善了车辆在中、低路面附着系数条件下的操纵稳定性.